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* wheel radius can now be retrieved from spheres (as well as cylinders) * the roller's radius is used rather than the wheel's (need an option for this)
…can only take a n X desired speed as it cannot move sideways instantaneously speaking). This second parameter is not used yet.
…eady done for the x direction and the rotation).
…um wheels using realigned rollers.
…which is to be provided is a body velocity, not a space velocity: I need to check whether this is standard or not.
* the odometry pose is expressed in the odom frame (as a ros convention) * the odometry twist is a body twist (as a ros convention) * the input desired twist is also a body twist (as a ros convention)
…delay in the reported velocity).
…t to the center frame in the odometry (FK).
…t to the center frame in the command (IK side).
…as it turned out rather misleading between the different occurences of the odom name (odom used to correspond to a reference frame, a topic and the short name for the odometry class...
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Hi! Do you have any updates on this PR? |
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Rebase & quick fixup of #149